TW201738055A - Humanoid robot - Google Patents

Abstract

Provided is a humanoid robot in which the possibility of falling over, which occurs when the power is shut off or when a centrifugal force, an external force, or the like is generated, is reduced, thus achieving high continuous operation probability. A humanoid robot (1) includes a body part (11), a head part (10), a left arm (12L) and a right arm (12R) that are attached at one end to the left and right of an upper section of the body part (11), a left foot (13L) and a right foot (13R) that are attached at one end to the left and right of a lower section of the body part (11), and a left travelling part (14L) and a right travelling part (14R) that are provided at the other ends of the left foot (13L) and the right foot (13R). The left travelling part (14L) includes a left driving wheel (101L) at the front side in the travelling direction and a left driven wheel (102L) at the rear side in the travelling direction, and the right travelling part (14R) includes a right driving wheel (101R) at the front side in the travelling direction and a right driven wheel (102R) at the rear side in the travelling direction. The left driving wheel (101L), the right driving wheel (101R), the left driven wheel (102L), and the right driven wheel (102R) move while touching the ground.

Description

Humanoid robot

The present invention relates to a humanoid robot.

For example, a technique described in Patent Document 1 is known as a humanoid device. Patent Document 1 discloses a humanoid robot including: a wheel that is drivably attached to a front end of a leg, a shock absorber formed by a spring and a shock absorber that are mounted in parallel between the wheel and the body, and a buffer device An actuator between the cushioning device and the body. Further, there is described a humanoid robot in which a buffer device is connected in series with an actuator, and a tilt sensor mounted on a body of the humanoid robot detects a tilt angle and an angular velocity of the robot with respect to a gravity direction, and has A control device that controls the actuator along a target angle of the humanoid robot and a target angular velocity based on the detected tilt angle and angular velocity.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2011-45973

However, in Patent Document 1, the correspondence between the power supply interruption, the centrifugal force exceeding the control limit, the external force, and the like is not considered at all. Therefore, when the power supply is blocked, centrifugal force or external force exceeding the control limit occurs, the robot may fall and the possibility of operation may not be maintained.

Accordingly, the present invention provides a humanoid robot which reduces the possibility of a fall when power supply blocking, centrifugal force or external force occurs, and has a high probability of continuous operation.

In order to solve the above problems, the humanoid robot according to the present invention includes: a body portion, a head portion provided on an upper portion of the body portion, and left and right arms connected to an upper portion of the body portion at one end, and one end connected a left and right foot on the left and right sides of the lower portion of the body portion, a left traveling portion and a right traveling portion provided at the other ends of the left and right legs, and the left traveling portion has a left driving wheel on the front side in the direction of the running. And a left driven wheel that can passively change the direction of progress in the direction of the direction of the direction, wherein the right traveling portion has a right driving wheel on the front side in the direction of the forward direction and a right driven wheel that can passively change the direction of the direction in the direction of the forward direction. The left drive wheel, the right drive wheel, the left driven wheel, and the right driven wheel are moved to the ground.

According to the present invention, a humanoid robot can be provided which is lowered The possibility of falling when low power blocking, centrifugal force or external force occurs, and the probability of continuous operation is high.

The problems, structures, and effects other than the above are explained by the following embodiments.

1‧‧‧ Humanoid robot

10‧‧‧ head

11‧‧‧ Body Department

12L‧‧‧ left arm

12R‧‧‧ right arm

13L‧‧‧ left foot

13R‧‧‧Right foot

14L‧‧‧Left Travel Department

14R‧‧‧Right Travel Department

100L‧‧‧left jaw

100R‧‧‧Right jaw

101L‧‧‧Left drive wheel

101R‧‧‧Right drive wheel

102L‧‧‧Left driven wheel

102R‧‧‧Right driven wheel

103L‧‧‧Left hook and loop

103R‧‧‧Right shackle

104‧‧‧Recognition camera

105L‧‧‧Left sliding gasket

105R‧‧‧Right sliding gasket

106L‧‧‧left hand wheel

106R‧‧‧Right hand wheel

107‧‧‧Sensor for measuring the surrounding environment

J1‧‧‧ head rolling axis

J2‧‧‧ head pitch axis

J3‧‧‧ head swing axis

J4L‧‧‧left shoulder pitch axis

J4R‧‧‧ right shoulder pitch axis

J5L‧‧‧ left shoulder rolling shaft

J5R‧‧‧Right shoulder rolling shaft

J6L‧‧‧ Left upper arm swing axis

J6R‧‧‧ right upper arm swing axis

J7L‧‧‧ Left elbow pitch axis

J7R‧‧‧ right elbow pitch axis

J8L‧‧‧ left wrist swing axis

J8R‧‧‧Right wrist swing axis

J9L‧‧‧Left gripper shaft

J9R‧‧‧Right jaw axis

J10L‧‧‧ left joint joint pitch axis

J10R‧‧‧ right joint joint pitch axis

J11L‧‧‧ left knee pitch axis

J11R‧‧‧ right knee pitch axis

J12L‧‧‧ Left ankle pitch axis

J12R‧‧‧ right ankle pitch axis

P10‧‧‧胴 protective shell

P11L‧‧‧Left shoulder protective shell

P11R‧‧‧Right shoulder protective shell

P12L‧‧‧Left elbow protective shell

P12R‧‧‧right elbow protective shell

P13L‧‧‧Left waist protective shell

P13R‧‧‧Right waist protective shell

P14L‧‧‧ left knee protective shell

P14R‧‧‧ right knee protective shell

P15L‧‧‧Left foot protection shell

P15R‧‧‧Right foot protection shell

100H‧‧‧Internal status indication LED

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a front perspective view of a humanoid robot according to a first embodiment of an embodiment of the present invention.

Fig. 2 is a rear perspective view of the humanoid robot of the first embodiment.

Fig. 3 is a view showing the degree of freedom of joint of the humanoid robot of the first embodiment.

Fig. 4 is a perspective view showing a state in which the humanoid robot of the first embodiment rotates to the left.

Fig. 5 is a perspective view showing a state in which the humanoid robot of the first embodiment rotates to the right.

Fig. 6 is a front perspective view showing the position of the protective case attached to the humanoid robot of the first embodiment.

Fig. 7 is a rear perspective view showing the position of the protective case attached to the humanoid robot of the first embodiment.

8 is a perspective view showing a mounting position of an LED for indicating an internal state of the humanoid robot of the first embodiment.

Fig. 9 is a side view showing the humanoid robot of the first embodiment in a state of being in a floating state.

Fig. 10 is a side elevational view showing the stage in which the humanoid robot of the first embodiment moves from the body state to the standing position.

Fig. 11 is a side elevational view showing the stage in which the humanoid robot of the first embodiment moves from the body state to the standing position.

Fig. 12 is a side elevational view showing the stage in which the humanoid robot of the first embodiment moves from the body state to the standing position.

Fig. 13 is a side elevational view showing the stage of the humanoid robot of the first embodiment moving from the floating body state to the standing posture.

Fig. 14 is a side elevational view showing the stage in which the humanoid robot of the first embodiment moves from the body state to the standing position.

Fig. 15 is a side view showing a state in which the humanoid robot of the first embodiment returns from the floating body state to the standing posture.

Fig. 16 is a side view showing the humanoid robot of the first embodiment in a state of being lifted up.

Fig. 17 is a side view showing the stage in which the humanoid robot of the first embodiment moves from the tilting state to the standing posture.

Fig. 18 is a side view showing the stage in which the humanoid robot of the first embodiment moves from the tilting state to the standing posture.

Fig. 19 is a side elevational view showing the stage of the humanoid robot of the first embodiment moving from the tilting state to the standing posture.

Fig. 20 is a side view showing the stage in which the humanoid robot of the first embodiment moves from the tilting state to the standing posture.

Fig. 21 is a side elevational view showing the stage in which the humanoid robot of the first embodiment moves from the tilting state to the standing posture.

Fig. 22 is a side view showing a state in which the humanoid robot of the first embodiment returns from the tilting state to the standing posture.

Fig. 23 is a perspective view showing a state in which the humanoid robot of the first embodiment falls down in the lateral direction.

Fig. 24 is a perspective view showing the state in which the humanoid robot of the first embodiment moves from the state of the lateral fall to the state of the floating body.

Fig. 25 is a perspective view showing the humanoid robot of the first embodiment transitioning from a state in which the human body falls to a state in which the human body is in a state of fall.

Hereinafter, embodiments of the present invention will be described using the drawings.

[Example 1]

1 is a front perspective view of a humanoid robot according to Embodiment 1 of an embodiment of the present invention, and FIG. 2 is a rear perspective view of the humanoid robot. In the following description, the direction in which the humanoid robot 1 is moved is the X axis, the direction of gravity is the Z axis, and the horizontal direction is the Y axis. The rotation around the X axis is defined as scrolling, the rotation around the Y axis is defined as pitch, and the rotation about the Z axis is defined as yaw.

As shown in FIG. 1, the humanoid robot 1 is composed of a head portion 10, a body portion 11, a left arm 12L and a right arm 12R provided on the left and right of the upper portion of the body portion 11 in the gravity direction, and a body portion 11 in the body portion 11. The left foot 13L and the right foot 13R are disposed on the left and right of the lower part of the gravity direction, and the left foot is The left traveling portion 14L provided at the lower end portion of the 13L gravity direction and the right traveling portion 14R provided at the lower portion of the right leg 13R in the gravity direction. A sensor such as a camera or a microphone is mounted on the head 10. Inside the body portion 11, although not shown, a control unit and a sensor for performing posture measurement are mounted to control the whole body motion of the humanoid robot 1. As the sensor, for example, a gyro sensor is used to measure the angle and angular velocity with respect to the direction of gravity.

The ambient measuring sensor 107 is mounted on the upper portion of the trunk portion 11 and the front portion of the neck portion corresponding to the connecting head portion 10 and the trunk portion 11, and the ambient measuring sensor 107 measures the surrounding objects. The distance between them. Further, as shown in FIG. 2, an annular left hook ring 103L and a right hook ring 103R are formed on the right and left upper portions of the back surface portion of the body portion 11. The left shackle 103L and the right shackle 103R are used as a handle when the humanoid robot 1 is transported, for example, and are used to hoist the entire standby frame when the humanoid robot 1 is being prepared. Further, the left shackle 103L and the right shackle 103R relax the rushing when, for example, the humanoid robot 1 falls to the back side. The left shackle 103L and the right shackle 103R are preferably configured to alleviate the soft material of the smashing.

In the attachment portion of the left shackle 103L and the right shackle 103R to the body portion 11, the left shackle 103L and the right shackle 103R are made softer by attaching a spring (not shown), and the squeezing can be further alleviated. A rear confirmation camera 104 is mounted between the left shackle 103L and the right shackle 103R on the back surface of the body portion 11. For the rear-recognition camera 104, for example, the humanoid robot 1 is used to confirm the rear when guiding the person. left The shackle 103L and the right shackle 103R are attached at an angle that does not obstruct the view of the camera 104 for rear confirmation.

As shown in Fig. 1, the left arm 12L and the right arm 12R are connected to the left and right ends of the upper portion of the body portion 11 in the gravity direction of the humanoid robot 1, and the left arm 12L and the right arm 12R are respectively provided at the respective distal end portions. The left jaw 100L and the right jaw 100R for grasping things. Further, the front end portion of the left arm 12L and the right arm 12R is also provided with a left-hand end wheel 106L and a right-hand end wheel 106R. For example, when the hand touches the ground and moves relative to each other, the friction can be reduced, in particular, from the posture of the back to the back. It is effective when the walking posture moves. The left gripper 100L and the right gripper 100R are provided with a left-hand end wheel 106L and a right-hand end wheel 106R, respectively, whereby both the gripping function and the smoothing movement from the tilting state to the standing posture can be achieved.

The lower end portion of the left leg 13L and the right leg 13R is provided with a left traveling portion 14L and a right traveling portion 14R through a buffer device that operates in the vertical direction. The left traveling portion 14L and the right traveling portion 14R are provided with a left driving wheel 101L and a right driving wheel 101R in the forward direction of the humanoid robot 1 and a left driven wheel 102L and a right driven wheel 102R in the rear. The left driven wheel 102L and the right driven wheel 102R are operated to prevent the movement of the left driving wheel 101L and the right driving wheel 101R, for example, using an offset caster or the like. By connecting the structure of the left leg 13L and the right leg 13R to the trunk portion 11, the footprint is small and the maneuverability is good, and it is possible to move agilely by traveling with the left driving wheel 101L and the right driving wheel 101R. With the left driven wheel 102L and the right driven wheel 102R, it can reduce the possibility of falling when the power is blocked or unpredictable, and can achieve a high probability of continuous operation. Shape robot 1.

As shown in FIG. 2, a left sliding pad 105L and a right sliding pad 105R are provided at the rear upper end portions of the left traveling portion 14L and the right traveling portion 14R, respectively. The left sliding pad 105L and the right sliding pad 105R are made of a material having a small coefficient of friction. For example, when the humanoid robot 1 falls down, it will contact the ground to reduce the frictional resistance against the ground.

FIG. 3 is a schematic view showing the degree of freedom of the joint of the humanoid robot 1. As shown in FIG. 3, the head portion 10 includes three degrees of freedom of the head rolling axis J1, the head pitch axis J2, and the head rocking axis J3. The left and right arms 12L and 12R are connected to the right and left end portions of the upper portion of the body portion 11 in the gravity direction, and are respectively from the root portion by the left shoulder pitch axis J4L, the right shoulder pitch axis J4R, the left shoulder roll axis J5L, the right shoulder roll axis J5R, and the upper left. The arm swing axis J6L, the right upper arm swing axis J6R, the left elbow pitch axis J7L, the right elbow pitch axis J7R, the left wrist swing axis J8L, and the right wrist swing axis J8R are formed, and thereafter, the left jaw axis J9L and the right clamp are provided. The claw shaft J9R and the left-hand end wheel 106L and the right-hand end wheel 106R.

Further, a left leg 13L and a right leg 13R are connected to the right and left end portions of the lower portion of the body portion 11 in the direction of gravity, and the left hip joint pitch axis J10L, the right hip joint pitch axis J10R, the left knee pitch axis J11L, and the right knee are respectively connected. The pitch axis J11R, the left pedal pitch axis J12L, and the right foot pitch axis J12R are each configured to have three pitch degrees of freedom. The left traveling portion 14L and the right traveling portion 14R (FIG. 1) are provided at the opposite end portions of the connection portion between the left leg 13L and the right leg 13R and the trunk portion 11. Humanoid robot of the embodiment 1, the degree of freedom is the above-described degree of freedom, and the movement on the ground is performed by the driving of the left driving wheel 101L and the right driving wheel 101R, and the acceleration/deceleration or the left and right center of gravity movement is the joint of the degree of freedom. Either one of them operates appropriately.

4 is a perspective view showing a state in which the humanoid robot 1 rotates to the left, and FIG. 5 is a perspective view showing a state in which the humanoid robot rotates to the right. When the vehicle is rotated in the left-right direction, the centrifugal force due to the radius of rotation and the traveling speed occurs, and the stability range is reduced when the standing posture is maintained. Here, as shown in FIG. 4, when the left leg 13L is rotated to the left, the length of the left leg 13L in the Z direction is appropriately controlled shorter than the right leg 13R, whereby the humanoid robot 1 is entirely turned to the left side. Tilt to shift the center of gravity from the standing position to the left side. This makes the range of stability wider, and reduces the possibility of falls when an unexpected accident occurs.

As shown in FIG. 5, when the right leg 13R is rotated to the right, the length of the right leg 13R is shorter than the left leg 13L, and the above-described joints are appropriately controlled, thereby tilting the humanoid robot 1 to the right. , shifting the center of gravity from the standing position to the right side. This makes the range of stability wider, and reduces the possibility of falls when an unexpected accident occurs.

6 is a front perspective view showing the position of the protective case attached to the humanoid robot 1, and FIG. 7 is a rear perspective view showing the position of the protective case attached to the humanoid robot 1. The protective case attached to the humanoid robot 1 is such that if the humanoid robot 1 falls, the flushing caused by contact with the ground is alleviated.

As shown in Fig. 6, the humanoid robot 1 falls forward In the case, the punching is relieved by the protective case P10 and the left knee protective case P14L and the right knee protective case P14R provided on the left and right knees.

When the humanoid robot 1 falls to the left, the left shoulder protection case P11L, the left elbow protection case P12L, and the left foot protection case P15L are used to alleviate the flush. Further, since the left arm 12L is caught by the body portion 11 and the ground due to the posture of the arm, the left waist arm protective case P13L is provided, so that the body portion 11 and the left arm 12L can be prevented from coming into direct contact with each other, and the flushing can be alleviated. .

Similarly, in the case where the humanoid robot 1 falls in the right direction, the right shoulder protection case P11R, the right elbow protection case P12R, and the right foot protection case P15R are used to alleviate the flushing. Further, since the right arm 12R is caught by the body portion 11 and the ground due to the posture of the arm, the right waist protective case P13R is provided, so that the body portion 11 and the right arm 12R can be prevented from coming into direct contact with each other, and the flushing can be alleviated.

As shown in Fig. 7, in the case where the humanoid robot 1 falls backward, the left shackle 103L and the right shackle 103R ease the flushing contact with the ground. Further, the left sliding pad 105L and the right sliding pad 105R are also in contact with the ground, thereby preventing the mask surface of the humanoid robot 1 from coming into contact with the ground, thereby preventing damage or injury of the mask surface. These protective shells are formed of a material such as rubber which can be moderately washed, and are not damaged or greatly deteriorated even if subjected to a plurality of punches, and the punching can be alleviated.

Further, with any of the protective shells as the apex, the mask surface of the humanoid robot 1 is configured not to be further outward than the surface connecting the vertices, so that even if the humanoid robot 1 falls in an oblique direction, it can prevent The appearance of the mask surface due to contact with the ground can be maintained.

FIG. 8 is a perspective view showing a mounting position of the LED for indicating the internal state of the humanoid robot 1. In the protective case formed of, for example, a rubber, it is relatively easy to transmit light such as an LED. Therefore, the LED 100H for internal state display is mounted inside the protective case, and it is easy to visually confirm from the outside by changing the timing of light emission or the color of light emitted. Or grasp the internal state of the humanoid robot 1.

Further, since the internal state indicates that the LED 100H is mounted on the inner side of the protective case, there is less concern that damage due to contact is caused. Further, when the humanoid robot 1 to be described later is returned from the fall state to the standing posture, the case where the humanoid robot 1 is in the normal operation is represented by the illumination mode of the internal state indicating LED 100H, whereby the humanoid robot 1 can be worried about Whether or not the person around you feels uncomfortable due to a fall is informed that there is no fault and can give a sense of security. 8 is a view showing an example in which the internal state indicating LED 100H is provided inside the protective case P10. However, the present invention is not limited thereto, and the internal state indicating LED 100H may be provided inside the other protective case.

9 is a side view showing the humanoid robot 1 in a squat state, and FIGS. 10 to 14 are side views showing a state in which the humanoid robot 1 moves from the squat state to the standing posture, and FIG. 15 is a view showing the humanoid robot 1 from the squat state. Side view of the state of returning to the standing position. In the order of Figs. 9 to 15, the humanoid robot 1 moves from the body state to the standing position. The return movement to the standing position is performed by left-right symmetry, so Figure 9~ 15 only shows a side view of the left side of the humanoid robot 1.

As shown in FIG. 9 , when the sensor for posture measurement mounted in the body portion 11 of the humanoid robot 1 detects that the angle is inclined by a predetermined angle or more with respect to the gravity direction, the control unit mounted in the body portion 11 is detected. (not shown), the respective shafts shown in FIG. 3 are driven, and the left arm 12L and the right arm 12R are respectively extended in the foot direction, and the neck, the waist, the left leg 13L, and the right leg 13R are also in an extended state. Therefore, the humanoid robot 1 is in contact with the ground immediately after the fall of the body, and only the protective case P10, the left knee protective case P14L, and the right knee protective case P14R.

Then, the process moves to the posture shown in FIG. The control unit (not shown) mounted in the trunk portion 11 drives the left shoulder pitch axis J4L, the right shoulder pitch axis J4R, the left elbow pitch axis J7L, and the right elbow pitch axis J7R at a predetermined angle to make the left-hand end wheel 106L And the right hand end wheel 106R touches the ground. Further, the control unit (not shown) appropriately drives the respective axes of the left arm 12L and the right arm 12R such that the directions of the rotation axes of the left-hand end wheel 106L and the right-hand end wheel 106R are parallel to the Y-axis.

Next, as shown in FIG. 11, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the left shoulder pitch axis J4L and the right shoulder pitch axis J4R to make the left hand end wheel 106L and the right hand end wheel 106R. The left knee protective shell P14L and the right knee protective shell P14R are moved to the grounding posture.

Next, as shown in FIG. 12, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the left shoulder pitch axis J4L and the right shoulder pitch axis in the direction in which the left arm 12L and the right arm 12R extend. axis J4R, left elbow pitch axis J7L, and right elbow pitch axis J7R. At the same time, the control unit (not shown) mounted in the trunk portion 11 drives the left hip joint pitch axis J10L, the right hip joint pitch axis J10R, and the left leg 13L and the right leg 13R in the retracted direction. Knee pitch axis J11L, right knee pitch axis J11R, left ankle pitch axis J12L, and right ankle pitch axis J12R. In this posture, the left-hand end wheel 106L, the right-hand end wheel 106R, the left knee protective case P14L, and the right knee protective case P14R touch the ground.

Next, as shown in FIG. 13, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 is in the direction in which the left-hand end wheel 106L and the left knee protective case P14L are in contact with each other, and the right hand is placed. The direction in which the end wheel 106R and the right knee guard P14R are close to each other drives the left shoulder pitch axis J4L and the right shoulder pitch axis J4R, respectively. Centering on the contact points of the left knee protective case P14L and the right knee protective case P14R, the humanoid robot 1 is rotated around the right in FIG. 13, and this operation is performed until the left driving wheel 101L and the right driving wheel 101R touch the ground.

Next, as shown in FIG. 14, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 is such that the left driven wheel 102L and the right driven wheel 102R touch the ground, and the left driving wheel 101L and The contact point of the right driving wheel 101R is centered, and the humanoid robot 1 rotates the left joint joint pitch axis J10L and the right hip joint pitch axis J10R around the right in FIG. At this time, the posture of the left arm 12L can also be changed in an auxiliary manner. After only the left driving wheel 101L, the right driving wheel 101R, the left driven wheel 102L, and the right driven wheel 102R are touched, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 is driven at a predetermined angle. Left foot 13L And the right axis 13R is the joint axis shown in FIG. 3 described above, and the humanoid robot 1 is moved to the standing posture as shown in FIG. Thereby, the humanoid robot 1 ends the return from the squat state to the standing posture.

In addition, since the body posture (the body state) does not have a stable posture after the fall, it is preferable to use this posture for the emergency avoidance when the battery residual amount is reduced. Then, when the remaining amount of the battery is reduced to such an extent that it is inoperable, the above-described FIG. 9 to FIG. 15 are reversely executed by a command from a control unit (not shown) mounted in the body portion 11 of the humanoid robot 1. It shows the program from the stand-up and moves to the squat state, so that it can be moved to the power-saving mode or the power is turned off.

16 is a side view showing the humanoid robot 1 in an upright state, and FIGS. 17 to 21 are side views showing a state in which the humanoid robot 1 moves from the upright state to the standing posture, and FIG. 22 is a view showing the humanoid robot 1 from the upright state. Side view of the state of returning to the standing position. In the order of Figs. 16 to 22, the humanoid robot 1 moves from the tilting state to the standing posture. Since the returning motion to the standing posture is also performed bilaterally symmetrically, FIGS. 16 to 22 only show a side view of the left side of the humanoid robot 1.

As shown in FIG. 16 , when the sensor for posture measurement mounted in the body portion 11 of the humanoid robot 1 detects that the angle is inclined by a predetermined angle or more with respect to the gravity direction, the control unit mounted in the body portion 11 is detected. (not shown), the respective shafts shown in FIG. 3 are driven, and the left arm 12L and the right arm 12R are extended in the foot direction, and the neck, the waist, the left leg 13L, and the right leg 13R are also in an extended state. Therefore, the humanoid robot 1 is only after the fall of the body, only the left shackle 103L, the right shackle 103R, and the left slide The row spacer 105L, the right sliding pad 105R, the left driven wheel 102L, and the right driven wheel 102R are in contact with the ground.

Next, as shown in FIG. 17, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the left shoulder pitch axis J4L, the right shoulder pitch axis J4R, and the left elbow pitch axis J7L at a predetermined angle. And the right elbow pitch axis J7R, and moves to a preparation posture in which the left-hand end wheel 106L and the right-hand end wheel 106R are in contact with the ground.

Next, as shown in FIG. 18, a control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the left shoulder pitch axis J4L, the right shoulder pitch axis J4R, the left elbow pitch axis J7L, and the right elbow. The pitch axis J7R is pressed against the ground by the left-hand end wheel 106L and the right-hand end wheel 106R, and the body portion 11 is lifted.

Next, as shown in FIG. 19, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the left leg 13L and the right leg 13R in the direction in which the left leg 13L and the right leg 13R are retracted, and drives the left joint pitch axis J10L. The right joint joint pitch axis J10R, the left knee pitch axis J11L, the right knee pitch axis J11R, the left ankle pitch axis J12L, and the right ankle pitch axis J12R. Next, as shown in FIG. 20, a control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the left shoulder pitch axis J4L, the left shoulder pitch axis J4R, the left elbow pitch axis J7L, and the right elbow pitch. The shaft J7R is pressed against the ground by the left-hand end wheel 106L and the right-hand end wheel 106R, and the humanoid robot 1 is rotated to the left around FIG. 20 with the left driven wheel 102L and the right driven wheel 102R as the center. As shown in FIG. 21, after the entire rotation of the humanoid robot 1, only the left driving wheel 101L, the right driving wheel 101R, and the left slave are moved. The wheel 102L and the right driven wheel 102R are in contact with the ground. Thereafter, a control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the joint shaft shown in FIG. 3 of each of the left leg 13L and the right leg 13R at a predetermined angle, as shown in FIG. Move to the standing position. Thereby, the humanoid robot 1 ends the return from the standing posture to the standing posture.

Fig. 23 is a perspective view showing a state in which the humanoid robot 1 falls laterally, Fig. 24 is a perspective view showing a state in which the humanoid robot 1 moves from a state in which the humanoid robot 1 falls to a state in which the body is in a state of lateral collapse, and Fig. 25 is a perspective view showing a state in which the humanoid robot 1 is in a state of falling from a lateral direction. A perspective view of the state after the squat state. The humanoid robot 1 first passes through the body-turning posture in order to move from the state of the lateral fall to the standing posture. That is, in the order shown in FIGS. 23 to 25, the vehicle is in a floating state from the lateral direction, and is moved to the standing posture in the order shown in FIGS. 9 to 15. In the case where the left side surface falls down, the operation in which the right side surface falls down is bilaterally symmetrical. Therefore, only the operation in the case where the left side is down is described here.

As shown in FIG. 23, when the sensor for posture measurement mounted in the body portion 11 of the humanoid robot 1 detects that the angle is inclined by a predetermined angle or more with respect to the gravity direction, the control unit mounted in the body portion 11 is detected. (not shown), the respective shafts shown in FIG. 3 are driven, and the left arm 12L and the right arm 12R are respectively extended in the foot direction, and the neck, the waist, the left leg 13L, and the right leg 13R are also in an extended state. Further, the control unit (not shown) mounted in the trunk portion 11 drives the left shoulder pitch axis J4L and the left elbow pitch axis J7L in order to prevent the left arm 12L from being caught between the body portion 11 and the ground. To pull the left arm 12L back. because In this case, the humanoid robot 1 contacts the ground with the left foot protective case P15L, the left shoulder protective case P11L, and the left elbow protective case P12L immediately after falling down laterally from the left side.

Next, as shown in FIG. 24, a control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 drives the right hip joint pitch axis J10R and the right knee pitch axis J11R to move the right knee toward the humanoid robot 1. The front of the body protrudes. Thereby, the center of gravity is moved to the front of the body (X direction), so the body rotates around the Z axis. At this time, the left shoulder protective shell P11L, the 胴 protective shell P10, and the left knee protective shell P14L are in contact with the ground (touching the ground). Thereafter, the control unit (not shown) mounted in the body portion 11 of the humanoid robot 1 returns the respective axes shown in FIG. 3 back to the same angle as in FIG. Thereby, as shown in FIG. 25, the humanoid robot 1 moves to the state of the body. As described above, the humanoid robot 1 ends the transition from the state of the lateral fall to the state of the body. Even if the right side is down to the bottom, the same action is performed on the opposite side to move to the squat state. Thereafter, as shown in FIGS. 9 to 15, the humanoid robot 1 is returned from the body state to the standing posture.

As described above, regardless of the state in which the humanoid robot 1 becomes any one of the body, the body, and the body when falling, it can be returned to the standing posture and can be operated continuously. Moreover, regardless of the state of being in any of the body, the body, and the lateral direction during the fall, only one of the protective shells is in contact with the ground, so that the flushing at the time of the fall is mitigated to prevent performance deterioration and prevent damage or injury of the mask. Sustainable operation.

According to the embodiment, the footprint is small and can be transported agilely The humanoid robot (humanoid robot) falls due to an unpredictable accident, causing performance deterioration or damage to the mask surface, and there is a problem that it is impossible to continue operation, by the left driven wheel 102L, the right driven wheel 102R, and the left The length of the foot 13L and the right leg 13R are controlled to reduce the possibility of falling. In addition, even if the humanoid robot falls, the protective casing, the left shackle 103L, and the right shackle 103R of each part are used to alleviate the squeaking to suppress performance deterioration, prevent damage or damage of the mask surface, and maintain the appearance. It is driven by each axis to return to the standing position and can operate continuously, providing a humanoid robot with a high probability of continuous operation.

Further, the present invention is not limited to the above-described embodiments, and various modifications are also included. For example, the above-described embodiments are described in detail for easy understanding of the present invention, and are not necessarily limited to those having all of the structures described.

1‧‧‧ Humanoid robot

10‧‧‧ head

11‧‧‧ Body Department

12L‧‧‧ left arm

12R‧‧‧ right arm

13L‧‧‧ left foot

13R‧‧‧Right foot

14L‧‧‧Left Travel Department

14R‧‧‧Right Travel Department

100L‧‧‧left jaw

100R‧‧‧Right jaw

101L‧‧‧Left drive wheel

101R‧‧‧Right drive wheel

102L‧‧‧Left driven wheel

102R‧‧‧Right driven wheel

103L‧‧‧Left hook and loop

106L‧‧‧left hand wheel

106R‧‧‧Right hand wheel

107‧‧‧Sensor for measuring the surrounding environment

Claims (10)

A humanoid robot comprising: a body portion; a head portion provided on an upper portion of the body portion; a left arm and a right arm connected to the left and right sides of the upper portion of the body portion at one end, and one end connected to a lower portion of the body portion at one end Left and right left and right legs, a left traveling portion and a right traveling portion provided at the other ends of the left and right legs, wherein the left traveling portion has a left driving wheel on the front side in the direction of the running direction and a rear side in the direction of the running direction The left driven wheel can be passively changed in direction, and the right traveling portion has a right driving wheel on the front side in the direction of the running direction, and a right driven wheel that can passively change the direction in the direction of the running direction, the left driving wheel and the right driving wheel. The left driven wheel and the right driven wheel are moved to the ground. The humanoid robot according to claim 1, wherein the left and right feet are respectively provided from the body side toward the left and right traveling portions, and have a hip joint pitch axis, a knee pitch axis, and an ankle pitch axis. At least 3 pitch degrees of freedom. The humanoid robot according to claim 2, wherein the joint joint pitch axis, the knee pitch axis, and the pedal pitch axis are respectively driven in accordance with a direction in which the rotation travels, so that the length of the left foot and the right foot in the vertical direction are opposite. Change to shift the center of gravity to the side of the aforementioned direction of travel. The humanoid robot according to claim 2, wherein the left arm and the right arm are provided with at least two pitch degrees of freedom of the shoulder pitch axis and the elbow pitch axis from the body side toward the front end side. The humanoid robot according to claim 4, wherein the front end portions of the left and right arms each have a left-hand end wheel and a right-hand end wheel. The humanoid robot according to claim 2, comprising: a left shoulder protective case mounted to project outwardly at a vicinity of a connecting portion of the left arm connected to the body portion; and a right shoulder protective case mounted to the foregoing One end of the right arm protrudes outwardly from the vicinity of the connecting portion connecting the body portion; the left elbow protective shell and the right elbow protective shell are respectively installed near the middle portion of the left arm and the right arm in the longitudinal direction; the ring left a shackle ring and a right shackle ring respectively disposed on the left and right sides of the upper portion of the back surface of the body portion; the 胴 protective case is attached to the front portion of the body portion; the left knee protection case and the right knee protection case are respectively installed at The left foot and the right foot are protruded forward in the vicinity of the middle portion in the longitudinal direction; the left foot protection case and the right foot protection case are respectively mounted on the sides outside the left and right feet; and the left waist protection case and the right side A waist protector is mounted on the left and right sides of the aforementioned body portion. The humanoid robot according to claim 6, wherein the left shoulder protection shell, the right shoulder protection shell, the left elbow protection shell, the right elbow protection shell, the 胴 protective shell, the left foot protective shell, the right foot protective shell, and the left waist protective shell The right waist protective shell, the left shackle, and the right shackle are made of a material such as rubber that can be moderated and washed. The humanoid robot according to claim 7, wherein the left shoulder protection shell, the right shoulder protection shell, the left elbow protection shell, the right elbow protection shell, the 胴 protective shell, the left foot protective shell, the right foot protective shell, and the left waist protection The inner side of at least one of the casing and the right waist protective casing has an illuminant such as an LED, and the internal state of the humanoid robot is represented by the transmitted light emitted from the illuminating body and penetrating the protective casing. . The humanoid robot according to claim 8, wherein the illuminator changes the illuminating timing and/or the illuminating color in response to the internal state of the humanoid robot. The humanoid robot according to claim 3, wherein the left driving wheel and the left driven wheel train are mutually offset, and the right driving wheel and the right driven wheel train are mutually offset.